Radar Map

import tkinter as tk from tkinter import ttk, messagebox import threading import queue import time import struct import numpy as np import matplotlib.pyplot as plt from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg from matplotlib.figure import Figure import matplotlib.patches as patches import logging from dataclasses import dataclass from typing import Dict, List, Tuple, Optional from scipy import signal from sklearn.cluster import DBSCAN from filterpy.kalman import KalmanFilter import crcmod import math import webbrowser import tempfile import os try: import usb.core import usb.util USB_AVAILABLE = True except ImportError: USB_AVAILABLE = False logging.warning("pyusb not available. USB CDC functionality will be disabled.") try: from pyftdi.ftdi import Ftdi from pyftdi.usbtools import UsbTools FTDI_AVAILABLE = True except ImportError: FTDI_AVAILABLE = False logging.warning("pyftdi not available. FTDI functionality will be disabled.") # Configure logging logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') # Dark theme colors DARK_BG = "#2b2b2b" DARK_FG = "#e0e0e0" DARK_ACCENT = "#3c3f41" DARK_HIGHLIGHT = "#4e5254" DARK_BORDER = "#555555" DARK_TEXT = "#cccccc" DARK_BUTTON = "#3c3f41" DARK_BUTTON_HOVER = "#4e5254" DARK_TREEVIEW = "#3c3f41" DARK_TREEVIEW_ALT = "#404040" @dataclass class RadarTarget: id: int range: float velocity: float azimuth: int elevation: int latitude: float = 0.0 longitude: float = 0.0 snr: float = 0.0 timestamp: float = 0.0 track_id: int = -1 @dataclass class RadarSettings: system_frequency: float = 10e9 chirp_duration_1: float = 30e-6 # Long chirp duration chirp_duration_2: float = 0.5e-6 # Short chirp duration chirps_per_position: int = 32 freq_min: float = 10e6 freq_max: float = 30e6 prf1: float = 1000 prf2: float = 2000 max_distance: float = 50000 map_size: float = 50000 # Map size in meters @dataclass class GPSData: latitude: float longitude: float altitude: float pitch: float # Pitch angle in degrees timestamp: float class MapGenerator: def __init__(self): self.map_html_template = """ Radar Map

""" def generate_map(self, gps_data, targets, coverage_radius, api_key="YOUR_GOOGLE_MAPS_API_KEY"): """Generate HTML map with radar and targets""" # Convert targets to map coordinates map_targets = [] for target in targets: # Convert polar coordinates (range, azimuth) to geographic coordinates target_lat, target_lon = self.polar_to_geographic( gps_data.latitude, gps_data.longitude, target.range, target.azimuth ) map_targets.append({ 'id': target.track_id, 'lat': target_lat, 'lng': target_lon, 'range': target.range, 'velocity': target.velocity, 'azimuth': target.azimuth, 'elevation': target.elevation, 'snr': target.snr }) # Generate targets script targets_script = "" if map_targets: targets_json = str(map_targets).replace("'", '"') targets_script = f"updateTargets({targets_json});" # Fill template map_html = self.map_html_template.format( lat=gps_data.latitude, lon=gps_data.longitude, alt=gps_data.altitude, pitch=gps_data.pitch, coverage_radius=coverage_radius, targets_script=targets_script, api_key=api_key ) return map_html def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg): """ Convert polar coordinates (range, azimuth) to geographic coordinates using simple flat-earth approximation (good for small distances) """ # Earth radius in meters earth_radius = 6371000 # Convert azimuth to radians (0° = North, 90° = East) azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention # Convert range to angular distance angular_distance = range_m / earth_radius # Convert to geographic coordinates target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi) target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * (180 / math.pi) / math.cos(math.radians(radar_lat)) return target_lat, target_lon class STM32USBInterface: def __init__(self): self.device = None self.is_open = False self.ep_in = None self.ep_out = None def list_devices(self): """List available STM32 USB CDC devices""" if not USB_AVAILABLE: logging.warning("USB not available - please install pyusb") return [] try: devices = [] # STM32 USB CDC devices typically use these vendor/product IDs stm32_vid_pids = [ (0x0483, 0x5740), # STM32 Virtual COM Port (0x0483, 0x3748), # STM32 Discovery (0x0483, 0x374B), # STM32 CDC (0x0483, 0x374D), # STM32 CDC (0x0483, 0x374E), # STM32 CDC (0x0483, 0x3752), # STM32 CDC ] for vid, pid in stm32_vid_pids: found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) for dev in found_devices: try: product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" devices.append({ 'description': f"{product} ({serial})", 'vendor_id': vid, 'product_id': pid, 'device': dev }) except: devices.append({ 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", 'vendor_id': vid, 'product_id': pid, 'device': dev }) return devices except Exception as e: logging.error(f"Error listing USB devices: {e}") # Return mock devices for testing return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] def open_device(self, device_info): """Open STM32 USB CDC device""" if not USB_AVAILABLE: logging.error("USB not available - cannot open device") return False try: self.device = device_info['device'] # Detach kernel driver if active if self.device.is_kernel_driver_active(0): self.device.detach_kernel_driver(0) # Set configuration self.device.set_configuration() # Get CDC endpoints cfg = self.device.get_active_configuration() intf = cfg[(0,0)] # Find bulk endpoints (CDC data interface) self.ep_out = usb.util.find_descriptor( intf, custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT ) self.ep_in = usb.util.find_descriptor( intf, custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN ) if self.ep_out is None or self.ep_in is None: logging.error("Could not find CDC endpoints") return False self.is_open = True logging.info(f"STM32 USB device opened: {device_info['description']}") return True except Exception as e: logging.error(f"Error opening USB device: {e}") return False def send_start_flag(self): """Step 12: Send start flag to STM32 via USB""" start_packet = bytes([23, 46, 158, 237]) logging.info("Sending start flag to STM32 via USB...") return self._send_data(start_packet) def send_settings(self, settings): """Step 13: Send radar settings to STM32 via USB""" try: packet = self._create_settings_packet(settings) logging.info("Sending radar settings to STM32 via USB...") return self._send_data(packet) except Exception as e: logging.error(f"Error sending settings via USB: {e}") return False def read_data(self, size=64, timeout=1000): """Read data from STM32 via USB""" if not self.is_open or self.ep_in is None: return None try: data = self.ep_in.read(size, timeout=timeout) return bytes(data) except usb.core.USBError as e: if e.errno == 110: # Timeout return None logging.error(f"USB read error: {e}") return None except Exception as e: logging.error(f"Error reading from USB: {e}") return None def _send_data(self, data): """Send data to STM32 via USB""" if not self.is_open or self.ep_out is None: return False try: # USB CDC typically uses 64-byte packets packet_size = 64 for i in range(0, len(data), packet_size): chunk = data[i:i + packet_size] # Pad to packet size if needed if len(chunk) < packet_size: chunk += b'\x00' * (packet_size - len(chunk)) self.ep_out.write(chunk) return True except Exception as e: logging.error(f"Error sending data via USB: {e}") return False def _create_settings_packet(self, settings): """Create binary settings packet for USB transmission""" packet = b'SET' packet += struct.pack('>d', settings.system_frequency) packet += struct.pack('>d', settings.chirp_duration_1) packet += struct.pack('>d', settings.chirp_duration_2) packet += struct.pack('>I', settings.chirps_per_position) packet += struct.pack('>d', settings.freq_min) packet += struct.pack('>d', settings.freq_max) packet += struct.pack('>d', settings.prf1) packet += struct.pack('>d', settings.prf2) packet += struct.pack('>d', settings.max_distance) packet += struct.pack('>d', settings.map_size) packet += b'END' return packet def close(self): """Close USB device""" if self.device and self.is_open: try: usb.util.dispose_resources(self.device) self.is_open = False except Exception as e: logging.error(f"Error closing USB device: {e}") class FTDIInterface: def __init__(self): self.ftdi = None self.is_open = False def list_devices(self): """List available FTDI devices using pyftdi""" if not FTDI_AVAILABLE: logging.warning("FTDI not available - please install pyftdi") return [] try: devices = [] # Get list of all FTDI devices for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID devices.append({ 'description': f"FTDI Device {device}", 'url': f"ftdi://{device}/1" }) return devices except Exception as e: logging.error(f"Error listing FTDI devices: {e}") # Return mock devices for testing return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] def open_device(self, device_url): """Open FTDI device using pyftdi""" if not FTDI_AVAILABLE: logging.error("FTDI not available - cannot open device") return False try: self.ftdi = Ftdi() self.ftdi.open_from_url(device_url) # Configure for synchronous FIFO mode self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) # Set latency timer self.ftdi.set_latency_timer(2) # Purge buffers self.ftdi.purge_buffers() self.is_open = True logging.info(f"FTDI device opened: {device_url}") return True except Exception as e: logging.error(f"Error opening FTDI device: {e}") return False def read_data(self, bytes_to_read): """Read data from FTDI""" if not self.is_open or self.ftdi is None: return None try: data = self.ftdi.read_data(bytes_to_read) if data: return bytes(data) return None except Exception as e: logging.error(f"Error reading from FTDI: {e}") return None def close(self): """Close FTDI device""" if self.ftdi and self.is_open: self.ftdi.close() self.is_open = False class RadarProcessor: def __init__(self): self.range_doppler_map = np.zeros((1024, 32)) self.detected_targets = [] self.track_id_counter = 0 self.tracks = {} self.frame_count = 0 def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): """Dual-CPI fusion for better detection""" fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) return fused_profile def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): """Multi-PRF velocity unwrapping""" lambda_wavelength = 3e8 / 10e9 v_max1 = prf1 * lambda_wavelength / 2 v_max2 = prf2 * lambda_wavelength / 2 unwrapped_velocities = [] for doppler in doppler_measurements: v1 = doppler * lambda_wavelength / 2 v2 = doppler * lambda_wavelength / 2 velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) unwrapped_velocities.append(velocity) return unwrapped_velocities def _solve_chinese_remainder(self, v1, v2, max1, max2): for k in range(-5, 6): candidate = v1 + k * max1 if abs(candidate - v2) < max2 / 2: return candidate return v1 def clustering(self, detections, eps=100, min_samples=2): """DBSCAN clustering of detections""" if len(detections) == 0: return [] points = np.array([[d.range, d.velocity] for d in detections]) clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) clusters = [] for label in set(clustering.labels_): if label != -1: cluster_points = points[clustering.labels_ == label] clusters.append({ 'center': np.mean(cluster_points, axis=0), 'points': cluster_points, 'size': len(cluster_points) }) return clusters def association(self, detections, clusters): """Association of detections to tracks""" associated_detections = [] for detection in detections: best_track = None min_distance = float('inf') for track_id, track in self.tracks.items(): distance = np.sqrt( (detection.range - track['state'][0])**2 + (detection.velocity - track['state'][2])**2 ) if distance < min_distance and distance < 500: min_distance = distance best_track = track_id if best_track is not None: detection.track_id = best_track associated_detections.append(detection) else: detection.track_id = self.track_id_counter self.track_id_counter += 1 associated_detections.append(detection) return associated_detections def tracking(self, associated_detections): """Kalman filter tracking""" current_time = time.time() for detection in associated_detections: if detection.track_id not in self.tracks: kf = KalmanFilter(dim_x=4, dim_z=2) kf.x = np.array([detection.range, 0, detection.velocity, 0]) kf.F = np.array([[1, 1, 0, 0], [0, 1, 0, 0], [0, 0, 1, 1], [0, 0, 0, 1]]) kf.H = np.array([[1, 0, 0, 0], [0, 0, 1, 0]]) kf.P *= 1000 kf.R = np.diag([10, 1]) kf.Q = np.eye(4) * 0.1 self.tracks[detection.track_id] = { 'filter': kf, 'state': kf.x, 'last_update': current_time, 'hits': 1 } else: track = self.tracks[detection.track_id] track['filter'].predict() track['filter'].update([detection.range, detection.velocity]) track['state'] = track['filter'].x track['last_update'] = current_time track['hits'] += 1 stale_tracks = [tid for tid, track in self.tracks.items() if current_time - track['last_update'] > 5.0] for tid in stale_tracks: del self.tracks[tid] class USBPacketParser: def __init__(self): self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) def parse_gps_data(self, data): """Parse GPS data from STM32 USB CDC with pitch angle""" if not data: return None try: # Try text format first: "GPS:lat,lon,alt,pitch\r\n" text_data = data.decode('utf-8', errors='ignore').strip() if text_data.startswith('GPS:'): parts = text_data.split(':')[1].split(',') if len(parts) == 4: # Now expecting 4 values lat = float(parts[0]) lon = float(parts[1]) alt = float(parts[2]) pitch = float(parts[3]) # Pitch angle in degrees return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) # Try binary format (30 bytes with pitch) if len(data) >= 30 and data[0:4] == b'GPSB': return self._parse_binary_gps_with_pitch(data) except Exception as e: logging.error(f"Error parsing GPS data: {e}") return None def _parse_binary_gps_with_pitch(self, data): """Parse binary GPS format with pitch angle (30 bytes)""" try: # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] if len(data) < 30: return None # Verify CRC (simple checksum) crc_received = (data[28] << 8) | data[29] crc_calculated = sum(data[0:28]) & 0xFFFF if crc_received != crc_calculated: logging.warning("GPS CRC mismatch") return None # Parse latitude (double, big-endian) lat_bits = 0 for i in range(8): lat_bits = (lat_bits << 8) | data[4 + i] latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] # Parse longitude (double, big-endian) lon_bits = 0 for i in range(8): lon_bits = (lon_bits << 8) | data[12 + i] longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] # Parse altitude (float, big-endian) alt_bits = 0 for i in range(4): alt_bits = (alt_bits << 8) | data[20 + i] altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] # Parse pitch angle (float, big-endian) pitch_bits = 0 for i in range(4): pitch_bits = (pitch_bits << 8) | data[24 + i] pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] return GPSData( latitude=latitude, longitude=longitude, altitude=altitude, pitch=pitch, timestamp=time.time() ) except Exception as e: logging.error(f"Error parsing binary GPS with pitch: {e}") return None class RadarPacketParser: def __init__(self): self.sync_pattern = b'\xA5\xC3' self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) def parse_packet(self, data): if len(data) < 6: return None sync_index = data.find(self.sync_pattern) if sync_index == -1: return None packet = data[sync_index:] if len(packet) < 6: return None sync = packet[0:2] packet_type = packet[2] length = packet[3] if len(packet) < (4 + length + 2): return None payload = packet[4:4+length] crc_received = struct.unpack('I', payload[0:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F return { 'type': 'range', 'range': range_value, 'elevation': elevation, 'azimuth': azimuth, 'chirp': chirp_counter, 'timestamp': time.time() } except Exception as e: logging.error(f"Error parsing range packet: {e}") return None def parse_doppler_packet(self, payload): if len(payload) < 12: return None try: doppler_real = struct.unpack('>h', payload[0:2])[0] doppler_imag = struct.unpack('>h', payload[2:4])[0] elevation = payload[4] & 0x1F azimuth = payload[5] & 0x3F chirp_counter = payload[6] & 0x1F return { 'type': 'doppler', 'doppler_real': doppler_real, 'doppler_imag': doppler_imag, 'elevation': elevation, 'azimuth': azimuth, 'chirp': chirp_counter, 'timestamp': time.time() } except Exception as e: logging.error(f"Error parsing Doppler packet: {e}") return None def parse_detection_packet(self, payload): if len(payload) < 8: return None try: detection_flag = (payload[0] & 0x01) != 0 elevation = payload[1] & 0x1F azimuth = payload[2] & 0x3F chirp_counter = payload[3] & 0x1F return { 'type': 'detection', 'detected': detection_flag, 'elevation': elevation, 'azimuth': azimuth, 'chirp': chirp_counter, 'timestamp': time.time() } except Exception as e: logging.error(f"Error parsing detection packet: {e}") return None class RadarGUI: def __init__(self, root): self.root = root self.root.title("Advanced Radar System GUI - USB CDC with Google Maps") self.root.geometry("1400x900") # Apply dark theme to root window self.root.configure(bg=DARK_BG) # Configure ttk style for dark theme self.style = ttk.Style() self.style.theme_use('clam') # Use 'clam' as base for better customization # Configure dark theme colors self.configure_dark_theme() # Initialize interfaces self.stm32_usb_interface = STM32USBInterface() self.ftdi_interface = FTDIInterface() self.radar_processor = RadarProcessor() self.usb_packet_parser = USBPacketParser() self.radar_packet_parser = RadarPacketParser() self.map_generator = MapGenerator() self.settings = RadarSettings() # Data queues self.radar_data_queue = queue.Queue() self.gps_data_queue = queue.Queue() # Thread control self.running = False self.radar_thread = None self.gps_thread = None # Counters self.received_packets = 0 self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) self.corrected_elevations = [] # Store corrected elevation values self.map_file_path = None self.google_maps_api_key = "YOUR_GOOGLE_MAPS_API_KEY" # Replace with your API key self.create_gui() self.start_background_threads() def configure_dark_theme(self): """Configure ttk style for dark mercury theme""" self.style.configure('.', background=DARK_BG, foreground=DARK_FG, fieldbackground=DARK_ACCENT, selectbackground=DARK_HIGHLIGHT, selectforeground=DARK_FG, troughcolor=DARK_ACCENT, borderwidth=1, focuscolor=DARK_BORDER) # Configure specific widgets self.style.configure('TFrame', background=DARK_BG) self.style.configure('TLabel', background=DARK_BG, foreground=DARK_FG) self.style.configure('TButton', background=DARK_BUTTON, foreground=DARK_FG, borderwidth=1, focuscolor=DARK_BORDER) self.style.map('TButton', background=[('active', DARK_BUTTON_HOVER), ('pressed', DARK_HIGHLIGHT)]) self.style.configure('TCombobox', fieldbackground=DARK_ACCENT, background=DARK_BG, foreground=DARK_FG, arrowcolor=DARK_FG) self.style.map('TCombobox', fieldbackground=[('readonly', DARK_ACCENT)], selectbackground=[('readonly', DARK_HIGHLIGHT)], selectforeground=[('readonly', DARK_FG)]) self.style.configure('TNotebook', background=DARK_BG, borderwidth=0) self.style.configure('TNotebook.Tab', background=DARK_ACCENT, foreground=DARK_FG, padding=[10, 5]) self.style.map('TNotebook.Tab', background=[('selected', DARK_HIGHLIGHT), ('active', DARK_BUTTON_HOVER)]) self.style.configure('Treeview', background=DARK_TREEVIEW, foreground=DARK_FG, fieldbackground=DARK_TREEVIEW, borderwidth=0) self.style.map('Treeview', background=[('selected', DARK_HIGHLIGHT)]) self.style.configure('Treeview.Heading', background=DARK_ACCENT, foreground=DARK_FG, relief='flat') self.style.map('Treeview.Heading', background=[('active', DARK_BUTTON_HOVER)]) self.style.configure('TEntry', fieldbackground=DARK_ACCENT, foreground=DARK_FG, insertcolor=DARK_FG) self.style.configure('Vertical.TScrollbar', background=DARK_ACCENT, troughcolor=DARK_BG, borderwidth=0, arrowsize=12) self.style.configure('Horizontal.TScrollbar', background=DARK_ACCENT, troughcolor=DARK_BG, borderwidth=0, arrowsize=12) self.style.configure('TLabelFrame', background=DARK_BG, foreground=DARK_FG, bordercolor=DARK_BORDER) self.style.configure('TLabelFrame.Label', background=DARK_BG, foreground=DARK_FG) def create_gui(self): """Create the main GUI with tabs""" self.notebook = ttk.Notebook(self.root) self.notebook.pack(fill='both', expand=True, padx=10, pady=10) self.tab_main = ttk.Frame(self.notebook) self.tab_map = ttk.Frame(self.notebook) self.tab_diagnostics = ttk.Frame(self.notebook) self.tab_settings = ttk.Frame(self.notebook) self.notebook.add(self.tab_main, text='Main View') self.notebook.add(self.tab_map, text='Map View') self.notebook.add(self.tab_diagnostics, text='Diagnostics') self.notebook.add(self.tab_settings, text='Settings') self.setup_main_tab() self.setup_map_tab() self.setup_settings_tab() def setup_main_tab(self): """Setup the main radar display tab""" # Control frame control_frame = ttk.Frame(self.tab_main) control_frame.pack(fill='x', padx=10, pady=5) # USB Device selection ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) self.stm32_usb_combo.grid(row=0, column=1, padx=5) ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) self.ftdi_combo.grid(row=0, column=3, padx=5) ttk.Button(control_frame, text="Refresh Devices", command=self.refresh_devices).grid(row=0, column=4, padx=5) self.start_button = ttk.Button(control_frame, text="Start Radar", command=self.start_radar) self.start_button.grid(row=0, column=5, padx=5) self.stop_button = ttk.Button(control_frame, text="Stop Radar", command=self.stop_radar, state="disabled") self.stop_button.grid(row=0, column=6, padx=5) # GPS and Pitch info self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) # Pitch display self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) # Status info self.status_label = ttk.Label(control_frame, text="Status: Ready") self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) # Main display area display_frame = ttk.Frame(self.tab_main) display_frame.pack(fill='both', expand=True, padx=10, pady=5) # Range-Doppler Map with dark theme plt.style.use('dark_background') fig = Figure(figsize=(10, 6), facecolor=DARK_BG) self.range_doppler_ax = fig.add_subplot(111, facecolor=DARK_ACCENT) self.range_doppler_plot = self.range_doppler_ax.imshow( np.random.rand(1024, 32), aspect='auto', cmap='hot', extent=[0, 32, 0, 1024]) self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)', color=DARK_FG) self.range_doppler_ax.set_xlabel('Doppler Bin', color=DARK_FG) self.range_doppler_ax.set_ylabel('Range Bin', color=DARK_FG) self.range_doppler_ax.tick_params(colors=DARK_FG) self.range_doppler_ax.spines['bottom'].set_color(DARK_FG) self.range_doppler_ax.spines['top'].set_color(DARK_FG) self.range_doppler_ax.spines['left'].set_color(DARK_FG) self.range_doppler_ax.spines['right'].set_color(DARK_FG) self.canvas = FigureCanvasTkAgg(fig, display_frame) self.canvas.draw() self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) # Targets list with corrected elevation targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") targets_frame.pack(side='right', fill='y', padx=5) self.targets_tree = ttk.Treeview(targets_frame, columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'Corrected Elev', 'SNR'), show='headings', height=20) self.targets_tree.heading('ID', text='Track ID') self.targets_tree.heading('Range', text='Range (m)') self.targets_tree.heading('Velocity', text='Velocity (m/s)') self.targets_tree.heading('Azimuth', text='Azimuth') self.targets_tree.heading('Elevation', text='Raw Elev') self.targets_tree.heading('Corrected Elev', text='Corr Elev') self.targets_tree.heading('SNR', text='SNR (dB)') self.targets_tree.column('ID', width=70) self.targets_tree.column('Range', width=90) self.targets_tree.column('Velocity', width=90) self.targets_tree.column('Azimuth', width=70) self.targets_tree.column('Elevation', width=70) self.targets_tree.column('Corrected Elev', width=70) self.targets_tree.column('SNR', width=70) # Add scrollbar to targets tree tree_scroll = ttk.Scrollbar(targets_frame, orient="vertical", command=self.targets_tree.yview) self.targets_tree.configure(yscrollcommand=tree_scroll.set) self.targets_tree.pack(side='left', fill='both', expand=True, padx=5, pady=5) tree_scroll.pack(side='right', fill='y', padx=(0, 5), pady=5) def setup_map_tab(self): """Setup the map display tab with Google Maps""" map_frame = ttk.Frame(self.tab_map) map_frame.pack(fill='both', expand=True, padx=10, pady=10) # Map controls controls_frame = ttk.Frame(map_frame) controls_frame.pack(fill='x', pady=5) ttk.Button(controls_frame, text="Open Map in Browser", command=self.open_map_in_browser).pack(side='left', padx=5) ttk.Button(controls_frame, text="Refresh Map", command=self.refresh_map).pack(side='left', padx=5) self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate") self.map_status_label.pack(side='left', padx=20) # Map info display info_frame = ttk.Frame(map_frame) info_frame.pack(fill='x', pady=5) self.map_info_label = ttk.Label(info_frame, text="No GPS data received yet", font=('Arial', 10)) self.map_info_label.pack() def setup_settings_tab(self): """Setup the settings tab with additional chirp durations and map size""" settings_frame = ttk.Frame(self.tab_settings) settings_frame.pack(fill='both', expand=True, padx=10, pady=10) entries = [ ('System Frequency (Hz):', 'system_frequency', 10e9), ('Chirp Duration 1 - Long (s):', 'chirp_duration_1', 30e-6), ('Chirp Duration 2 - Short (s):', 'chirp_duration_2', 0.5e-6), ('Chirps per Position:', 'chirps_per_position', 32), ('Frequency Min (Hz):', 'freq_min', 10e6), ('Frequency Max (Hz):', 'freq_max', 30e6), ('PRF1 (Hz):', 'prf1', 1000), ('PRF2 (Hz):', 'prf2', 2000), ('Max Distance (m):', 'max_distance', 50000), ('Map Size (m):', 'map_size', 50000), ('Google Maps API Key:', 'google_maps_api_key', 'YOUR_GOOGLE_MAPS_API_KEY') ] self.settings_vars = {} for i, (label, attr, default) in enumerate(entries): ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) var = tk.StringVar(value=str(default)) entry = ttk.Entry(settings_frame, textvariable=var, width=25) entry.grid(row=i, column=1, padx=5, pady=5) self.settings_vars[attr] = var ttk.Button(settings_frame, text="Apply Settings", command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) def apply_pitch_correction(self, raw_elevation, pitch_angle): """ Apply pitch correction to elevation angle raw_elevation: measured elevation from radar (degrees) pitch_angle: antenna pitch angle from IMU (degrees) Returns: corrected elevation angle (degrees) """ # Convert to radians for trigonometric functions raw_elev_rad = math.radians(raw_elevation) pitch_rad = math.radians(pitch_angle) # Apply pitch correction: corrected_elev = raw_elev - pitch # This assumes the pitch angle is positive when antenna is tilted up corrected_elev_rad = raw_elev_rad - pitch_rad # Convert back to degrees and ensure it's within valid range corrected_elev_deg = math.degrees(corrected_elev_rad) # Normalize to 0-180 degree range corrected_elev_deg = corrected_elev_deg % 180 if corrected_elev_deg < 0: corrected_elev_deg += 180 return corrected_elev_deg def refresh_devices(self): """Refresh available USB devices""" # STM32 USB devices stm32_devices = self.stm32_usb_interface.list_devices() stm32_names = [dev['description'] for dev in stm32_devices] self.stm32_usb_combo['values'] = stm32_names # FTDI devices ftdi_devices = self.ftdi_interface.list_devices() ftdi_names = [dev['description'] for dev in ftdi_devices] self.ftdi_combo['values'] = ftdi_names if stm32_names: self.stm32_usb_combo.current(0) if ftdi_names: self.ftdi_combo.current(0) def start_radar(self): """Step 11: Start button pressed - Begin radar operation""" try: # Open STM32 USB device stm32_index = self.stm32_usb_combo.current() if stm32_index == -1: messagebox.showerror("Error", "Please select an STM32 USB device") return stm32_devices = self.stm32_usb_interface.list_devices() if stm32_index >= len(stm32_devices): messagebox.showerror("Error", "Invalid STM32 device selection") return if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): messagebox.showerror("Error", "Failed to open STM32 USB device") return # Open FTDI device if FTDI_AVAILABLE: ftdi_index = self.ftdi_combo.current() if ftdi_index != -1: ftdi_devices = self.ftdi_interface.list_devices() if ftdi_index < len(ftdi_devices): device_url = ftdi_devices[ftdi_index]['url'] if not self.ftdi_interface.open_device(device_url): logging.warning("Failed to open FTDI device, continuing without radar data") else: logging.warning("No FTDI device selected, continuing without radar data") else: logging.warning("FTDI not available, continuing without radar data") # Step 12: Send start flag to STM32 via USB if not self.stm32_usb_interface.send_start_flag(): messagebox.showerror("Error", "Failed to send start flag to STM32") return # Step 13: Send settings to STM32 via USB self.apply_settings() # Start radar operation self.running = True self.start_button.config(state="disabled") self.stop_button.config(state="normal") self.status_label.config(text="Status: Radar running - Waiting for GPS data...") logging.info("Radar system started successfully via USB CDC") except Exception as e: messagebox.showerror("Error", f"Failed to start radar: {e}") logging.error(f"Start radar error: {e}") def stop_radar(self): """Stop radar operation""" self.running = False self.start_button.config(state="normal") self.stop_button.config(state="disabled") self.status_label.config(text="Status: Radar stopped") self.stm32_usb_interface.close() self.ftdi_interface.close() logging.info("Radar system stopped") def apply_settings(self): """Step 13: Apply and send radar settings via USB""" try: self.settings.system_frequency = float(self.settings_vars['system_frequency'].get()) self.settings.chirp_duration_1 = float(self.settings_vars['chirp_duration_1'].get()) self.settings.chirp_duration_2 = float(self.settings_vars['chirp_duration_2'].get()) self.settings.chirps_per_position = int(self.settings_vars['chirps_per_position'].get()) self.settings.freq_min = float(self.settings_vars['freq_min'].get()) self.settings.freq_max = float(self.settings_vars['freq_max'].get()) self.settings.prf1 = float(self.settings_vars['prf1'].get()) self.settings.prf2 = float(self.settings_vars['prf2'].get()) self.settings.max_distance = float(self.settings_vars['max_distance'].get()) self.settings.map_size = float(self.settings_vars['map_size'].get()) self.google_maps_api_key = self.settings_vars['google_maps_api_key'].get() if self.stm32_usb_interface.is_open: self.stm32_usb_interface.send_settings(self.settings) messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") logging.info("Radar settings applied via USB") except ValueError as e: messagebox.showerror("Error", f"Invalid setting value: {e}") def start_background_threads(self): """Start background data processing threads""" self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) self.radar_thread.start() self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) self.gps_thread.start() self.root.after(100, self.update_gui) def process_radar_data(self): """Step 39: Process incoming radar data from FTDI""" buffer = b'' while True: if self.running and self.ftdi_interface.is_open: try: data = self.ftdi_interface.read_data(4096) if data: buffer += data while len(buffer) >= 6: packet = self.radar_packet_parser.parse_packet(buffer) if packet: self.process_radar_packet(packet) packet_length = 4 + len(packet.get('payload', b'')) + 2 buffer = buffer[packet_length:] self.received_packets += 1 else: break except Exception as e: logging.error(f"Error processing radar data: {e}") time.sleep(0.1) else: time.sleep(0.1) def process_gps_data(self): """Step 16/17: Process GPS data from STM32 via USB CDC""" while True: if self.running and self.stm32_usb_interface.is_open: try: # Read data from STM32 USB data = self.stm32_usb_interface.read_data(64, timeout=100) if data: gps_data = self.usb_packet_parser.parse_gps_data(data) if gps_data: self.gps_data_queue.put(gps_data) logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") except Exception as e: logging.error(f"Error processing GPS data via USB: {e}") time.sleep(0.1) def process_radar_packet(self, packet): """Step 40: Process radar data and apply pitch correction""" try: if packet['type'] == 'range': range_meters = packet['range'] * 0.1 # Apply pitch correction to elevation raw_elevation = packet['elevation'] corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) # Store correction for display self.corrected_elevations.append({ 'raw': raw_elevation, 'corrected': corrected_elevation, 'pitch': self.current_gps.pitch, 'timestamp': packet['timestamp'] }) # Keep only recent corrections if len(self.corrected_elevations) > 100: self.corrected_elevations = self.corrected_elevations[-100:] target = RadarTarget( id=packet['chirp'], range=range_meters, velocity=0, azimuth=packet['azimuth'], elevation=corrected_elevation, # Use corrected elevation snr=20.0, timestamp=packet['timestamp'] ) self.update_range_doppler_map(target) elif packet['type'] == 'doppler': lambda_wavelength = 3e8 / self.settings.system_frequency velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) self.update_target_velocity(packet, velocity) elif packet['type'] == 'detection': if packet['detected']: # Apply pitch correction to detection elevation raw_elevation = packet['elevation'] corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) logging.info(f"CFAR Detection: Raw Elev {raw_elevation}°, Corrected Elev {corrected_elevation:.1f}°, Pitch {self.current_gps.pitch:.1f}°") except Exception as e: logging.error(f"Error processing radar packet: {e}") def update_range_doppler_map(self, target): """Update range-Doppler map with new target""" range_bin = min(int(target.range / 50), 1023) doppler_bin = min(abs(int(target.velocity)), 31) self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 self.radar_processor.detected_targets.append(target) if len(self.radar_processor.detected_targets) > 100: self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] def update_target_velocity(self, packet, velocity): """Update target velocity information""" for target in self.radar_processor.detected_targets: if (target.azimuth == packet['azimuth'] and target.elevation == packet['elevation'] and target.id == packet['chirp']): target.velocity = velocity break def open_map_in_browser(self): """Open the generated map in the default web browser""" if self.map_file_path and os.path.exists(self.map_file_path): webbrowser.open('file://' + os.path.abspath(self.map_file_path)) else: messagebox.showwarning("Warning", "No map file available. Generate map first by receiving GPS data.") def refresh_map(self): """Refresh the map with current data""" self.generate_map() def generate_map(self): """Generate Google Maps HTML file with current targets""" if self.current_gps.latitude == 0 and self.current_gps.longitude == 0: self.map_status_label.config(text="Map: Waiting for GPS data") return try: # Create temporary HTML file with tempfile.NamedTemporaryFile(mode='w', suffix='.html', delete=False, encoding='utf-8') as f: map_html = self.map_generator.generate_map( self.current_gps, self.radar_processor.detected_targets, self.settings.map_size, self.google_maps_api_key ) f.write(map_html) self.map_file_path = f.name self.map_status_label.config(text=f"Map: Generated at {self.map_file_path}") self.map_info_label.config( text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | " f"Targets: {len(self.radar_processor.detected_targets)} | " f"Coverage: {self.settings.map_size/1000:.1f}km" ) logging.info(f"Map generated: {self.map_file_path}") except Exception as e: logging.error(f"Error generating map: {e}") self.map_status_label.config(text=f"Map: Error - {str(e)}") def update_gps_display(self): """Step 18: Update GPS and pitch display""" try: while not self.gps_data_queue.empty(): gps_data = self.gps_data_queue.get_nowait() self.current_gps = gps_data # Update GPS label self.gps_label.config( text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") # Update pitch label with color coding pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" self.pitch_label.config(text=pitch_text) # Color code based on pitch magnitude if abs(gps_data.pitch) > 10: self.pitch_label.config(foreground='red') # High pitch warning elif abs(gps_data.pitch) > 5: self.pitch_label.config(foreground='orange') # Medium pitch else: self.pitch_label.config(foreground='green') # Normal pitch # Generate/update map when new GPS data arrives self.generate_map() except queue.Empty: pass def update_targets_list(self): """Update the targets list display with corrected elevations""" for item in self.targets_tree.get_children(): self.targets_tree.delete(item) for target in self.radar_processor.detected_targets[-20:]: # Find the corresponding raw elevation if available raw_elevation = "N/A" for correction in self.corrected_elevations[-20:]: if abs(correction['corrected'] - target.elevation) < 0.1: # Fuzzy match raw_elevation = f"{correction['raw']}" break self.targets_tree.insert('', 'end', values=( target.track_id, f"{target.range:.1f}", f"{target.velocity:.1f}", target.azimuth, raw_elevation, # Show raw elevation f"{target.elevation:.1f}", # Show corrected elevation f"{target.snr:.1f}" )) def update_gui(self): """Step 40: Update all GUI displays""" try: # Update status with pitch information if self.running: self.status_label.config( text=f"Status: Running - Packets: {self.received_packets} - Pitch: {self.current_gps.pitch:+.1f}°") # Update range-Doppler map if hasattr(self, 'range_doppler_plot'): display_data = np.log10(self.radar_processor.range_doppler_map + 1) self.range_doppler_plot.set_array(display_data) self.canvas.draw_idle() # Update targets list self.update_targets_list() # Update GPS and pitch display self.update_gps_display() except Exception as e: logging.error(f"Error updating GUI: {e}") self.root.after(100, self.update_gui) def main(): """Main application entry point""" try: root = tk.Tk() app = RadarGUI(root) root.mainloop() except Exception as e: logging.error(f"Application error: {e}") messagebox.showerror("Fatal Error", f"Application failed to start: {e}") if __name__ == "__main__": main()